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GPS fixes
Work aroung Serial reset issue on ESP32 Don't send unsupported command to G60xx GPS
This commit is contained in:
Jonathan Bennett
parent
ffcb131171
commit
e943fffe8c
137
src/gps/GPS.cpp
137
src/gps/GPS.cpp
@ -60,11 +60,14 @@ GPS_RESPONSE GPS::getACK(const char *message, uint32_t waitMillis)
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bytesRead++;
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if ((bytesRead == 767) || (b == '\r')) {
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if (strnstr((char *)buffer, message, bytesRead) != nullptr) {
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#ifdef GPS_DEBUG
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buffer[bytesRead] = '\0';
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LOG_DEBUG("%s\r", (char *)buffer);
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#endif
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return GNSS_RESPONSE_OK;
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} else {
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#ifdef GPS_DEBUG
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buffer[bytesRead] = '\0';
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bytesRead++;
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LOG_INFO("Bytes read:%s\n", (char *)buffer);
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#endif
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bytesRead = 0;
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@ -74,7 +77,6 @@ GPS_RESPONSE GPS::getACK(const char *message, uint32_t waitMillis)
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}
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#ifdef GPS_DEBUG
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buffer[bytesRead] = '\0';
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bytesRead++;
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LOG_INFO("Bytes read:%s\n", (char *)buffer);
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#endif
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return GNSS_RESPONSE_NONE;
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@ -305,11 +307,11 @@ bool GPS::setupGPS()
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/*
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uint8_t buffer[768] = {0};
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byte _message_GNSS[8] = {0xb5, 0x62, // Sync message for UBX protocol
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0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
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0x00, 0x00, // Length of payload (28 bytes)
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0x00, 0x00};
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0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
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0x00, 0x00, // Length of payload (28 bytes)
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0x00, 0x00};
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UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
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// Send the message to the module
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// Send the message to the module
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_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
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int ackLen = getACK(buffer, sizeof(buffer), 0x06, 0x3e, 2000);
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LOG_DEBUG("monver reply size = %d\n", ackLen);
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@ -324,63 +326,66 @@ bool GPS::setupGPS()
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// Also we need SBAS for better accuracy and extra features
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// ToDo: Dynamic configure GNSS systems depending of LoRa region
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if ((strncmp(info.hwVersion, "00070000", 8) == 0) || // Max7 seems to only support GPS *or* GLONASS
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(strncmp(info.hwVersion, "00040007", 8) == 0)) {
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LOG_DEBUG("Setting GPS+SBAS\n");
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byte _message_GNSS[28] = {
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0xb5, 0x62, // Sync message for UBX protocol
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0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
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0x14, 0x00, // Length of payload (28 bytes)
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0x00, // msgVer (0 for this version)
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0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
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0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
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0x02, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
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// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
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0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x00, 0x01, // GPS
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0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x00, 0x01, // SBAS
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0x00, 0x00 // Checksum (to be calculated below)
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};
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// Calculate the checksum and update the message.
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UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
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// Send the message to the module
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_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
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} else {
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byte _message_GNSS[36] = {
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0xb5, 0x62, // Sync message for UBX protocol
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0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
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0x1c, 0x00, // Length of payload (28 bytes)
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0x00, // msgVer (0 for this version)
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0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
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0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
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0x03, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
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// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
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0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
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0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
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0x06, 0x08, 0x0e, 0x00, 0x01, 0x00, 0x01, 0x01, // GLONASS
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0x00, 0x00 // Checksum (to be calculated below)
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};
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// Calculate the checksum and update the message.
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UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
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// Send the message to the module
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_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
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}
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if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
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// It's not critical if the module doesn't acknowledge this configuration.
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// The module should operate adequately with its factory or previously saved settings.
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// It appears that there is a firmware bug in some GPS modules: When an attempt is made
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// to overwrite a saved state with identical values, no ACK/NAK is received, contrary to
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// what is specified in the Ublox documentation.
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// There is also a possibility that the module may be GPS-only.
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LOG_INFO("Unable to reconfigure GNSS - defaults maintained. Is this module GPS-only?\n");
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} else {
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if (strncmp(info.hwVersion, "00070000", 8) == 0) {
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LOG_INFO("GNSS configured for GPS+SBAS. Pause for 0.75s before sending next command.\n");
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if (strncmp(info.hwVersion, "00040007", 8) !=
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0) { // The original ublox 6 is GPS only and doesn't support the UBX-CFG-GNSS message
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if (strncmp(info.hwVersion, "00070000", 8) == 0) { // Max7 seems to only support GPS *or* GLONASS
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LOG_DEBUG("Setting GPS+SBAS\n");
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byte _message_GNSS[28] = {
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0xb5, 0x62, // Sync message for UBX protocol
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0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
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0x14, 0x00, // Length of payload (28 bytes)
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0x00, // msgVer (0 for this version)
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0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
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0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
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0x02, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
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// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
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0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x00, 0x01, // GPS
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0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x00, 0x01, // SBAS
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0x00, 0x00 // Checksum (to be calculated below)
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};
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// Calculate the checksum and update the message.
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UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
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// Send the message to the module
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_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
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} else {
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LOG_INFO("GNSS configured for GPS+SBAS+GLONASS. Pause for 0.75s before sending next command.\n");
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byte _message_GNSS[36] = {
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0xb5, 0x62, // Sync message for UBX protocol
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0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
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0x1c, 0x00, // Length of payload (28 bytes)
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0x00, // msgVer (0 for this version)
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0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
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0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
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0x03, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
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// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
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0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
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0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
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0x06, 0x08, 0x0e, 0x00, 0x01, 0x00, 0x01, 0x01, // GLONASS
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0x00, 0x00 // Checksum (to be calculated below)
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};
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// Calculate the checksum and update the message.
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UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
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// Send the message to the module
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_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
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}
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if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
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// It's not critical if the module doesn't acknowledge this configuration.
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// The module should operate adequately with its factory or previously saved settings.
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// It appears that there is a firmware bug in some GPS modules: When an attempt is made
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// to overwrite a saved state with identical values, no ACK/NAK is received, contrary to
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// what is specified in the Ublox documentation.
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// There is also a possibility that the module may be GPS-only.
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LOG_INFO("Unable to reconfigure GNSS - defaults maintained. Is this module GPS-only?\n");
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} else {
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if (strncmp(info.hwVersion, "00070000", 8) == 0) {
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LOG_INFO("GNSS configured for GPS+SBAS. Pause for 0.75s before sending next command.\n");
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} else {
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LOG_INFO("GNSS configured for GPS+SBAS+GLONASS. Pause for 0.75s before sending next command.\n");
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}
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// Documentation say, we need wait atleast 0.5s after reconfiguration of GNSS module, before sending next
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// commands
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delay(750);
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}
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// Documentation say, we need wait atleast 0.5s after reconfiguration of GNSS module, before sending next commands
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delay(750);
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}
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// Enable interference resistance, because we are using LoRa, WiFi and Bluetooth on same board,
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@ -950,7 +955,15 @@ GnssModel_t GPS::probe(int serialSpeed)
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_serial_gps->end();
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_serial_gps->begin(serialSpeed);
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#else
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_serial_gps->updateBaudRate(serialSpeed);
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if (_serial_gps->baudRate() != serialSpeed) {
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LOG_DEBUG("Setting Baud to %i\n", serialSpeed);
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_serial_gps->updateBaudRate(serialSpeed);
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}
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#endif
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#ifdef GPS_DEBUG
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for (int i = 0; i < 20; i++) {
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getACK("$GP", 200);
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}
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#endif
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memset(&info, 0, sizeof(struct uBloxGnssModelInfo));
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uint8_t buffer[768] = {0};
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